EP4419809B1 - Überlastkupplung mit gemeinsamer drehmoment- und ausrückmessung - Google Patents

Überlastkupplung mit gemeinsamer drehmoment- und ausrückmessung

Info

Publication number
EP4419809B1
EP4419809B1 EP22793429.6A EP22793429A EP4419809B1 EP 4419809 B1 EP4419809 B1 EP 4419809B1 EP 22793429 A EP22793429 A EP 22793429A EP 4419809 B1 EP4419809 B1 EP 4419809B1
Authority
EP
European Patent Office
Prior art keywords
flange
clutch
rigid body
electrode
capacitance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP22793429.6A
Other languages
English (en)
French (fr)
Other versions
EP4419809A1 (de
Inventor
Frederik Leopold A. OSTYN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ghent University
Original Assignee
Ghent University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ghent University filed Critical Ghent University
Publication of EP4419809A1 publication Critical patent/EP4419809A1/de
Application granted granted Critical
Publication of EP4419809B1 publication Critical patent/EP4419809B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D7/00—Slip couplings, e.g. slipping on overload, for absorbing shock
    • F16D7/02—Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type
    • F16D7/024—Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type with axially applied torque limiting friction surfaces
    • F16D7/025—Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type with axially applied torque limiting friction surfaces with flat clutching surfaces, e.g. discs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D7/00—Slip couplings, e.g. slipping on overload, for absorbing shock
    • F16D7/04—Slip couplings, e.g. slipping on overload, for absorbing shock of the ratchet type
    • F16D7/042—Slip couplings, e.g. slipping on overload, for absorbing shock of the ratchet type with at least one part moving axially between engagement and disengagement
    • F16D7/046—Slip couplings, e.g. slipping on overload, for absorbing shock of the ratchet type with at least one part moving axially between engagement and disengagement with a plurality of axially moving parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2300/00—Special features for couplings or clutches
    • F16D2300/18—Sensors; Details or arrangements thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D43/00—Automatic clutches
    • F16D43/02—Automatic clutches actuated entirely mechanically
    • F16D43/20—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure
    • F16D43/202—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure of the ratchet type
    • F16D43/2022—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure of the ratchet type with at least one part moving axially between engagement and disengagement
    • F16D43/2026—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure of the ratchet type with at least one part moving axially between engagement and disengagement with a plurality of axially moving parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D43/00—Automatic clutches
    • F16D43/02—Automatic clutches actuated entirely mechanically
    • F16D43/20—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure
    • F16D43/21—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure with friction members
    • F16D43/213—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure with friction members with axially applied torque-limiting friction surfaces
    • F16D43/215—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure with friction members with axially applied torque-limiting friction surfaces with flat friction surfaces, e.g. discs

Definitions

  • the present invention relates to an overload clutch and a device comprising the clutch.
  • resistive-type JTS the excessive cost of the resistive-type JTS is not justifiable if only used while teaching the robot at low speed, but not while the robot is executing its program at high speed. Therefore, resistive-type JTS sensors are rarely included in high-speed robots, in contrast to slow-moving collaborative robots.
  • the second type of JTS is a capacitive type based on capacitive measurements between the deformed structure and an non-deformed reference structure.
  • the capacitive-type can be manufactured at a lower cost and can be more easily installed, but is less accurate.
  • a base structure is required, e.g. of a robot arm.
  • the base structure would need to be added to an actuator, resulting in an increased volume, complexity and weight.
  • an overload clutch is present, such as a Combined Friction Cam Clutch (CFCC) described by Ostyn et al. in their article (Overload Clutch Design for Collision Tolerant High-Speed Industrial Robots, IEEE Robotics and Automation Letters, Vol. 6 , No. 2, pages 863-870, Apr. 2021 ), the additional base structure would present even more complexity of assembly and installation.
  • CFCC Combined Friction Cam Clutch
  • Ostyn et al. discloses in their publication high-speed industrial robots can cause severe damage in the event of a collision. In order to deploy them in unstructured environments, they require overload protection and sensitive collision detection. A qualitative and quantitative com parison of different detection techniques is presented based on high-speed collision experiments.
  • a high-speed industrial robot actuator with overload clutch was instrumented with various sensors for this purpose. Limit switches and secondary encoders required the clutch to decouple prior to detection.
  • Proprioceptive techniques were successfully implemented but showed lower sensitivity compared to accelerometer based collision detection ( Ostyn, F., et al., G. (2021). Comparison of Collision Detection Techniques for High-Speed Industrial Robot Actuators with Overload Clutch. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2021) (pp. 448-453). (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2021-July ).
  • the present invention aims at addressing the issues listed above.
  • the present invention provides an overload clutch comprising an input flange and an output flange, said clutch being configured to transmit torque between the input flange and the output flange and to disengage the clutch when the torque exceeds a predetermined threshold, characterised in, that the clutch comprises one or more sensing means at least partially integrated in at least one of the input flange and the output flange, and that the one or more sensing means are adapted to jointly determine the torque (e.g., externally applied torque) transmitted between the input flange and the output flange of the clutch and detect the disengagement of the clutch.
  • the torque e.g., externally applied torque
  • the present invention provides a device comprising the overload clutch, a gear unit connected to the input flange, and a motor connected to the gear unit, configured to provide torque to the input flange through the gear unit.
  • overload clutch may be interpreted as a torque limiting clutch, e.g. as a deterrent to many torque spike and overload issues.
  • the clutch comprises one sensing mean
  • said sensing mean is adapted to jointly determine the external torque and detect the disengagement of the clutch.
  • each of said plurality of sensing means is adapted to jointly determine the external torque and detect the disengagement of the clutch.
  • the deformable structure (105; 205; 305; 405; 106; 206; 306; 406) and the sensor structure (108a-108d; 208a-208d; 308a-308b; 408a-408b) allow for a more efficient integration of the one or more sensing means in the clutch and a more effective way of jointly determining the external torque and detecting the disengagement of the clutch, without increasing the volume of the clutch and/or the complexity of assembling the clutch.
  • the electrode may comprise an angle between the first and second faces (e.g., between 45-90 degrees, 90-135 degrees, 45-135 degrees, etc.).
  • the angle may correspond to an angle formed between a surface/side of a protruding portion protruding portion and a surface of said at least one flange.
  • part of the electrode having the second face may be connected to said at least one flange, e.g. on the PCB connected to said at least one flange.
  • the electrode comprises a base surface (e.g., of an opposite side) and a sloped surface (e.g., of a hypotenuse), the base surface facing a protruding portion of the other of said one of the first and second rigid bodies, and the sloped surface extending in the radial direction of said at least one flange.
  • the electrode may further comprise a further surface (e.g., of an adjacent side) facing said at least one flange. Examples of such an electrode are triangular-shaped, right-angled triangular shaped, or wedge-shaped.
  • the further surface may be connected to said at least one flange, e.g. on the PCB connected to said at least one flange.
  • A is the area of the main surface of the first face and d is the distance between the main surface and the other of said one of the first and second rigid bodies, e.g. the protruding portion.
  • A is the area of the main surface of the second face and d is the distance between the second face, and a surface of the other of said at least one of the input and output flanges facing the second face.
  • the second capacitance may be measured between the other surface of the first face and the other of said at least one flange.
  • the second capacitance may be measured based on A, the area of the sloped surface of the electrode, and d , the distance between the sloped surface and the other of said at least one of the input and output flanges.
  • the distance may be determined from one point on the sloped surface or as an average distance from a plurality of points on the sloped surface.
  • the sloped surface may provide more surface area than a conventional electrode or the L-shaped electrode or the electrode with perpendicular first and second faces, and as a result provide more sensitive measurements of capacitance.
  • a first sensor structure (108a; 308a; 108d; 308b) comprised in the one or more sensing means is connected to the first rigid body (101; 301; 104; 304) in said at least one flange and electrically insulated from the first rigid body (101; 301; 104; 304), wherein the first sensor structure (108a; 308a; 108d; 308b) is configured to measure the first capacitance between the electrode in the first sensor structure (108a; 308a; 108d; 308b) and the second rigid body (102; 302; 103; 303) in said at least one flange, and measure the second capacitance between the electrode and the second rigid body (102; 302; 103; 303) in the other of said at least one flange.
  • the first capacitance may be a result of a deformation of the deformable structure (105; 305; 106; 306) in the angular direction of said at least one flange
  • the second capacitance may be a result of a displacement of the second rigid body in said at least one flange with respect to the second rigid body in the other of said at least one flange, for example, said displacement is an angular displacement of the second rigid body (102; 302) in the input flange (101, 102; 301, 302) with respect to the second rigid body (103; 303) in the output flange (103, 104; 303, 304).
  • This is shown in the exemplary embodiments relating to Figs. 1 and 3 .
  • a second sensor structure (208a; 408a; 208d; 408b) comprised in the one or more sensing means is connected to the second rigid body (202; 402; 203; 403) in said at least one flange and electrically insulated from the second rigid body (202; 402; 203; 403), wherein the second sensor structure (208a; 408a; 208d; 408b) is configured to measure the first capacitance between the electrode in the second sensor structure (208a; 408a; 208d; 408b) and the first rigid body (201; 401; 204; 404) in said at least one flange, and measure the second capacitance between the electrode and the second rigid body (202; 402; 203; 403) in the other of said at least one flange.
  • the first capacitance may be a result of a deformation of the deformable structure (205; 405; 206; 406) in the angular direction of said at least one flange
  • the second capacitance may be a result of a displacement of the second rigid body in said at least one flange with respect to the second rigid body in the other of said at least one flange, for example, said displacement is an angular displacement of the second rigid body (102; 402) in the input flange (101, 102; 401, 402) with respect to the second rigid body (103; 403) in the output flange (103, 104; 403, 404).
  • This is shown in the exemplary embodiments relating to Figs. 2 and 4 .
  • the second rigid body in the other of said at least one flange comprises a spring plate (107; 207; 307; 407) and a plurality of springs (109; 209; 309; 409) allowing the spring plate (107; 207; 307; 407) to move axially relative to the second rigid body and to respectively engage or disengage both flanges.
  • the spring plate (107; 207; 307; 407) and at last one spring (109; 209; 309; 409) are comprised in the second rigid body (103; 203; 303; 403) in the output flange, as shown in Figs. 1-4 .
  • the spring plate (107; 207) comprises transmission elements (111; 211), wherein the second rigid body (102; 202) in the said at least one flange includes grooves configured to accommodate at least part of the transmission elements (111; 211).
  • the transmission elements (111; 211) may be in the form of balls, cylindrical rollers, spherical rollers, etc.
  • the spring plate (107; 207) may comprise top recesses formed on a top surface of the spring plate (107; 207), i.e., facing said at least one flange (e.g., the input flange).
  • the top recesses may be arranged in the angular direction and each top recess may be configured to accommodate a bottom part of the transmission element (111; 211).
  • the top recesses may be arranged in a plurality of groups of top recesses similar to the plurality of groups of the transmission elements (111; 211).
  • the grooves and/or the top recesses may have a shape complementary to the transmission elements (111; 211). Examples of such a spring plate (107; 207) is shown in Figs. 1 and 2 .
  • a fourth sensor structure (208b, 208c) in the one or more sensing means is connected to the second rigid body (202; 203) in said at least one flange and electrically insulated from the second rigid body (202; 203), wherein the fourth sensor structure (208b, 208c) is configured to measure the first capacitance between the electrode in the fourth sensor structure (208b, 208c) and the first rigid body (201; 204) in said at least one flange, and measure the second capacitance between the electrode and the spring plate (207) and/or at least one of the transmission elements (211).
  • This is shown in the exemplary embodiments relating to Fig. 2 .
  • the first capacitance may be a result of a deformation of the deformable structure (105; 106; 205; 206) in the angular direction of said at least one flange
  • the second capacitance may be a result of a displacement of the spring plate (107; 207) and/or at least one of the transmission elements (111; 211) with respect to the second rigid body in any of the flanges.
  • the displacement of the spring plate (107; 207) and/or the at least one of the transmission elements (111; 211) may be angular and/or axial with respect to the second rigid body in said at least one flange.
  • the axial displacement of the spring plate (107; 207) and/or the at least one of the transmission elements (111; 211) may relate to the disengagement of the spring plate (107; 207) and/or the at least one of the transmission elements (111; 211) from the grooves in said at least one flange.
  • the angular displacement of the spring plate (107; 207) and/or the at least one of the transmission elements (111; 211) may relate to the angular displacement of the second rigid bodies in both flanges.
  • the surface of the second rigid body (102; 202; 302; 402; 103; 203; 303; 403) in the other of said at least one flange may comprise more than one deformation (114; 214; 314; 414; 115; 215; 315; 415) at least one of which facing a surface of at least one electrode, such that in any engaged position of the flanges, a deformation (114; 214; 314; 414; 115; 215; 315; 415) faces a surface of the electrode.
  • the deformation (114; 214; 314; 414; 115; 215; 315; 415) may be a groove, depression, trench, or any other inward deformation from the surface of the other of said at least one flange (i.e., from the surface to the inside of the flange). This is shown in the exemplary embodiments relating to Figs. 1-4 .
  • the deformation may be an outward deformation, such as a protrusion or projection from the surface of the other of said at least one flange, wherein such an outward deformation would not be in contact with the second rigid body of said at least one flange or the electrode in the engaged state.
  • the electronic circuit is configured to detect disengagement of the clutch based on the measured second capacitance described in the above embodiments. For example, the axial disengagement between the second rigid body in said at least one flange and the spring plate (107; 207) and/or the at least one of the transmission elements (111; 211), is detected based on a change in the measured second capacitance due to a change in a distance between a surface of the electrode integrated in said at least one flange (e.g. in the sensor structure comprised in the one or more sensing means) and a surface of the spring plate (107; 207) and/or the transmission elements (111; 211), e.g.
  • the flanges or the second rigid bodies therein disengage, the flanges or the second rigid bodies are displaced angularly with respect to each other causing a change in a distance between the surface of the second rigid body (102; 202; 302; 402; 103; 203; 303; 403) in the other of said at least one flange and the surface of the electrode.
  • the distance between the surface of the electrode and the distance between the electrode and the deformation may increase or decrease due to another portion of the surface of the second rigid body in the other of said at least one flange facing the surface of the electrode and/or vice versa.
  • a second electrical circuit (212a; 412a; 212d; 412b) may be formed/provided between the electrode in the second sensor structure (208a; 408a; 208d; 408b) and at least one of the first rigid body of said at least one flange and the second rigid body of the other of said at least one flange.
  • a third electrical circuit (112b; 112c) may be formed/provided between the electrode in the third sensor structure (108b; 108c) and the second rigid body of said at least one flange and/or the spring plate (107) and/or at least one of the transmission elements (111) in the other of said at least one flange.
  • a further capacitance may be measured by the sensor structure (108a-108d; 208a-208d) or may be determined by the electronic circuit as a combination of the first and the second capacitances.
  • a first further capacitance may be measured or determined between the second rigid bodies of both flanges, preferably based on the first electrical circuit (112a; 312a; 112d; 312b).
  • a second further capacitance may be measured or determined between the first rigid body of said at least one flange and the second rigid body of the other of said at least one flange, preferably based on the second electrical circuit (212a; 412a; 212d; 412b).
  • a third further capacitance may be measured or determined between the second rigid body of said at least one flange and the spring plate (107) and/or at least one of the transmission elements (111) in the other of said at least one flange, preferably based on the third electrical circuit (112b; 112c).
  • a fourth further capacitance may be measured or determined between the first rigid body of said at least one flange and the spring plate (207) and/or the at least one of the transmission elements (211) in the other of said at least one flange, preferably based on the fourth electrical circuit (212b; 212c).
  • said at least one flange comprises a plurality of protruding portions (535; 635; 735) arranged in an angular direction
  • the one or more sensing means comprise a plurality of sensor structures (538; 638; 738) each having an electrode, the plurality of sensor structures (538; 638; 738) being arranged in an angular direction and being configured to measure the first capacitance between the electrodes and the plurality of protruding portions (535; 635; 735).
  • the protruding portions (535; 635; 735) may extend axially from an inner wall of a first or second rigid body of the other of said at least one flange, and may be one of several shapes, such as rectangular, triangular, cylindrical, etc.
  • the electrode may comprise a face (e.g., the first face) having a main surface complementary to a surface/side of a respective protruding portion.
  • the electrode in the case of a cylindrical protruding portion, the electrode may have a cylindrical face that is complementary to a part of a circumference of the cylindrical protruding portion.
  • the protruding portions (535; 635; 735) may comprise a sloped surface extending in the radial direction of said at least one flange.
  • the protruding portions (535; 635; 735) may be wedge-shaped.
  • the number of protruding portions (535; 635; 735) and/or electrodes or sensor structures (538; 638; 738) may be two or more, three or more, four or more, five or more, six or more, seven or more, eight or more, etc.
  • the number of sensor structures (538; 638; 738) or the number of electrodes for a respective protruding portion may be one or more, two or more, three or more, four or more, etc.
  • one or more electrodes or sensor structures (538; 638; 738) may be provided for each protruding portion, such as each electrode facing a different side/surface of a protruding portion.
  • an average first capacitance may be determined based on the measured first capacitances by the plurality of sensor structures, and an average second capacitance may be determined based on the measured second capacitances by the plurality of sensor structures.
  • Other statistical analyses may be performed on the measured capacitances. For instance, an average change in first capacitance and/or average change in second capacitance may be determined.
  • the clutch is a cam clutch, a friction clutch or a combined friction cam clutch (CFCC).
  • the cam clutch may be based on the ball-recess principle. Furthermore, the cam mechanism translates a rotary motion in a translational one, where the spring plate (107; 207) moves with respect to the housing (e.g., due to rotation of a cam) which allows straightforward clutch disengagement sensing using the same hardware as the one or more sensing means.
  • the cam clutch may also be called a positive clutch or a positive torque limiter. Examples of the cam clutch and/or the CFCC are displayed in Figs. 1 , 2 , 5-7 . Examples of the friction clutch are displayed in Figs. 3 and 4 .
  • the second rigid body (102; 202) in said at least one flange is a cam (510; 610; 710)
  • the first rigid body (104; 204) in the other of said at least one flange is a bearing (e.g., roller bearing or ball bearing)
  • the first rigid body (101; 201) in said at least one flange is a hub (502; 702) connected to a gear unit and/or a motor
  • the second rigid body (103; 203) in the other of said at least one flange is an output part (508; 608; 708) of a clutch, formed by the bearing, the spring plate (512) and said output part (508; 608; 708).
  • the hub (502; 702) is connected/fastened by a first connecting/fastening means (516; 616; 716) to the cam (510; 610; 710).
  • An inner ring (507; 707) of the bearing is connected/fastened to the output part (508; 608; 708) by means of a second connecting/fastening means (516; 716).
  • An outer ring (505; 705) of the bearing is connected/fastened to a part of a device, such as an axis on which a device (e.g. a robot) is capable of moving, by a third connecting/fastening means (519; 719).
  • the bearing may further comprise a plurality of rollers or balls (509; 709) between the inner and outer rings (505, 507; 705, 707)
  • the connecting/fastening means may be bolt/screw connection with a bolt/screw stud, a bolt/screw connection with a through bolt/screw, a bolt/screw connection with a through bolt/screw and a nut.
  • Figs. 5C , 7C and 7D further show example embodiments of a cam clutch or a CFCC where the parts of the clutch may be connected and fastened to each other.
  • the first connecting/fastening means (503; 703) are in the form of bolt/screw connection with a through bolt/screw accommodated through holes of the hub (502; 702) and the cam (510; 710).
  • the second connecting/fastening means (516; 716) are in the form of bolt/screw connection with a through bolt/screw accommodated through holes of the output part (508; 708) and the inner ring (507; 707).
  • Each sensor structure (538; 738) forms/provides a first electrical circuit (532; 732) between the electrode in the sensor structure (538; 738) and the cam (510; 710), preferably the protruding portion (535; 735), and is configured to measure a first capacitance, e.g. of the first electrical circuit (532; 732), between the electrode in the sensor structure (538; 738) and the cam (510; 710), preferably the protruding portion (535; 735).
  • Figs. 7A , 7C and 7D further show that the PCB (730) is connected/fastened to the first rigid body (721) by means of screws (731).
  • the at least one sensor structure (738) may be connected/fastened to the PCB and/or the first rigid body (721) by means of screws (731). Connecting/fastening means other than screw can also be understood by a person skilled in the art. Additionally, or alternatively, the electrode of the sensor structure (738) may be soldered to the PCB.
  • Fig. 7B shows that the PCB may be connected/fastened to at least one supporting structure (724) comprised in the first rigid body (721).
  • the supporting structure (724) may provide the connecting/fastening means to be closer to the sensor structure (738), making the one or more sensing means (e.g., the PCB) more rigid.
  • the number of supporting structures (724) may be greater than the number of protruding portions (738) and/or the number of spokes (723), e.g., double the number of protruding portions (738) and/or the number of spokes (723), as shown in Figs. 6B and 7B .
  • the number of protruding portions may be less than the number of protruding portions (738) and/or the number of spokes (723).
  • the PCB is preferably electrically insulated from any of the at least one supporting structure (724) and/or the first rigid body (521; 721).
  • the first (532; 732) and second (533; 733) electrical circuits may form/provide an electrical circuit between the second rigid body (522; 722) in the cam (510; 710) and/or the protruding portion (535; 735) and the spring plate (512; 712), similar to the first and/or third electrical circuit (112a, 112b) described with reference to Fig. 1 .
  • the overload clutch may further comprise a sliding bearing (504; 704), wherein the hub (502; 702), the sliding bearing (504; 704) and the cam (510; 710) form an inner clutch part that is rotatable connected to an outer clutch part formed by the roller bearing, the output part (508; 708), the spring plate (512; 712) and the springs (714) allowing the displacement of the spring plate (512; 712) axially with respect to any one or combination of the cam (510; 710), the output part (508; 708), the bearing (505, 507; 705; 707) and/or another output part (720). Due to the friction between the hub (502) and the sliding bearing (504) shown in Fig. 5C , not all the torque is transferred through the cam (510).
  • the inventors have found that by removing a part of the sliding bearing (504; 704) including in the overload clutch of Figs. 7C and 7D another output part (720), all the torque can be transferred through the cam (710). This allows for improving/increasing the sensitivity of the one or more sensing means, particularly, the sensing structure (735) therein.
  • the other output part (720) may be connected/fastened to the output part (708) by means of another connecting/fastening means (718), which may be similar to the connecting/fastening means described above.
  • Fig. 6C schematically illustrates a perspective view of an example embodiment of a clutch according to the present invention.
  • the overload clutch of Fig. 6C corresponds in many aspects and/or features to the overload clutch of any one of Figs. 5C , 7C and 7D , therefore, only the differences will be described in detail for the sake of brevity.
  • a first (603) and second (616) connecting/fastening means, a spring plate (612), transmission elements (613), and an outer ring (605) of a bearing may respectively correspond to the first (503 ;703) and second (516; 716) connecting/fastening means, the spring plate (512; 712), the transmission elements (513; 713) and the outer ring (505; 705) of the bearing in Figs. 5C , 7C and 7D .
  • Figs. 6A and 6B show one or more PCBs (630), integrated in the output flange, particularly in the output part (608).
  • the one or more PCBs (630) may be comprised in the one or more sensing means and/or electrically connecting the electronic circuit to the at least one sensor structure (638).
  • Fig. 6B shows that the one or more sensing means comprise three protruding portions (635).
  • the at least one sensor structure (638) may be the first and/or second sensor structure (108c, 108d) as described with reference to Fig. 1 .
  • a sensor structure (638) forms an electrical circuit (632), which may correspond to the first and/or third electrical circuit (112c, 112d) described with reference to Fig. 1 .
  • the electrical circuit (632) is formed /provided between the electrode of the sensor structure (638) and at least one of the output part (608) (e.g., the first rigid body 621 as shown in Fig. 6B , or the second rigid body (622) and the protruding portion (635) and between the electrode of the sensor structure (638) and at least one of the spring plate (61) and at least one transmission element (613).
  • cam clutch and/or the CFCC shall be understood by the skilled person.
  • the clutch may be connected, e.g. rigidly connected, or fastened to the motor via an actuator housing that is connected to clutch via the third connection or fastening means (519; 719), as described above.
  • the gear unit may comprise a circular spline, wave generator and a flexspline.
  • the gear unit or a rotatable part of the gear unit may be further connected, e.g. rigidly connected, or fastened to the hub (502; 702) via the flexspline and a fourth connection or fastening means, e.g.
  • a bolt/screw connection with a bolt/screw stud in the form of a bolt/screw connection with a bolt/screw stud, a bolt/screw connection with a through bolt/screw, a bolt/screw connection with a through bolt/screw and a nut.
  • the gear unit may be a strain wave gearing, preferably a harmonic drive.
  • the device may be used in a control algorithm comprising the step of actively braking (including stopping) the motor when the torque at the cam (510; 710) exceeds a predetermined torque threshold.
  • the clutch is thus moved from the engaged state to the disengaged state.
  • the higher the motor braking torque the faster the motor inertia can be slowed down and the smaller the angular position difference between the clutch and the motor.
  • the industrial robot may be used in a control algorithm comprising the step of controlling the position of the motor and gear unit with the clutch in the disengaged state such that the clutch can move from the disengaged state to the engaged state.
  • the control algorithm may further comprise the step of braking, and preferably stopping, the motor.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • One-Way And Automatic Clutches, And Combinations Of Different Clutches (AREA)

Claims (14)

  1. Eine Überlastkupplung umfassend einen Eingangsflansch (101, 102; 201, 202) und einen Ausgangsflansch (103, 104; 203, 204), wobei die Kupplung dazu eingerichtet ist, ein Drehmoment zwischen dem Eingangsflansch (101, 102; 201, 202) und dem Ausgangsflansch (103, 104; 203, 204) zu übertragen und die Kupplung auszukuppelen, wenn das Drehmoment einen vorbestimmten Schwellenwert überschreitet,
    wobei die Kupplung ein oder mehrere Erfassungsmittel umfasst, die zumindest teilweise in mindestens einen der Eingangs- und Ausgangsflansche integriert sind, und
    wobei das eine oder mehrere Erfassungsmittel so ausgelegt sind, dass sie gemeinsam das zwischen den beiden Flanschen übertragene Drehmoment ermitteln und das Auskuppeln der Kupplung feststellen,
    dadurch gekennzeichnet, dass der mindestens eine Flansch einen ersten starren Körper (101; 201; 104; 204) und einen zweiten starren Körper (102; 202; 103; 203) umfasst, die miteinander über eine verformbare Struktur (105; 106; 205; 206) verbunden sind, die in einer Winkelrichtung des mindestens einen Flansches verformbar ist, wobei die verformbare Struktur (105; 106; 205; 206) durch mindestens eine Torsionsfederkonstante definiert ist, und dass
    das eine oder mehrere Erfassungsmittel umfassen:
    eine Sensorstruktur (108a-108d; 208a-208d) mit einer Elektrode, die mit einem der ersten und zweiten starren Körper verbunden und davon elektrisch isoliert ist, wobei die Sensorstruktur (108a-108d; 208a-208d) dazu eingerichtet ist, eine erste Kapazität zwischen der Elektrode und dem anderen des einen der ersten und zweiten starren Körper zu messen und dazu eingerichtet ist, eine zweite Kapazität zwischen der Elektrode und dem anderen des mindestens einen Flansches zu messen, und
    eine elektronische Schaltung, die dazu eingerichtet ist, das externe Drehmoment auf der Grundlage der gemessenen ersten Kapazität zu bestimmen und dazu eingerichtet ist, das Auskuppeln der Kupplung auf der Grundlage der gemessenen zweiten Kapazität zu erkennen.
  2. Kupplung nach Anspruch 1, wobei die Elektrode eine erste Fläche und eine zweite Fläche umfasst, wobei die erste Fläche eine Hauptoberfläche aufweist, die einem vorstehenden Abschnitt des anderen des ersten und zweiten starren Körpers zugewandt ist, und die zweite Fläche eine Hauptoberfläche aufweist, die dem anderen des mindestens einen Flansches zugewandt ist.
  3. Kupplung nach Anspruch 1, wobei die Elektrode eine Grundfläche und eine geneigte Fläche umfasst, wobei die Grundfläche einem vorstehenden Abschnitt des anderen des ersten oder zweiten starren Körpers zugewandt ist, und die geneigte Fläche sich in der Winkelrichtung des mindestens einen Flansches erstreckt.
  4. Kupplung nach einem der Ansprüche 1 bis 3, wobei eine erste Sensorstruktur (108a, 108d) in dem einen oder mehreren Erfassungsmitteln mit dem ersten starren Körper (101; 104) verbunden und von diesem elektrisch isoliert ist,
    wobei die erste Sensorstruktur (108a, 108d) dazu eingerichtet ist, die erste Kapazität zwischen der Elektrode in der ersten Sensorstruktur (108a, 108d) und dem zweiten starren Körper (102; 103) in dem mindestens einen Flansch zu messen, und die zweite Kapazität zwischen der Elektrode und dem zweiten starren Körper (102; 103) in dem anderen des mindestens einen Flansches zu messen.
  5. Kupplung nach einem der Ansprüche 1 bis 4, wobei eine zweite Sensorstruktur (208a, 208d) in dem einen oder mehreren Erfassungsmitteln mit dem zweiten starren Körper (202; 203) verbunden und von diesem elektrisch isoliert ist,
    wobei die zweite Sensorstruktur (208a, 208d) dazu eingerichtet ist, die erste Kapazität zwischen der Elektrode in der zweiten Sensorstruktur (208a, 208d) und dem ersten starren Körper (201; 204) in dem mindestens einen Flansch zu messen, und die zweite Kapazität zwischen der Elektrode und dem zweiten starren Körper (202; 203) in dem anderen des mindestens einen Flansches zu messen.
  6. Kupplung nach einem der Ansprüche 1 bis 5, wobei der zweite starre Körper in dem anderen des mindestens einen Flansches eine Federplatte (107; 207) und eine Vielzahl von Federn (109; 209) umfasst, die der Federplatte (107; 207) ermöglichen, sich axial relativ zu dem zweiten starren Körper (103; 203) zu bewegen und beide Flansche einzukuppeln bzw. auszukuppeln.
  7. Kupplung nach Anspruch 6, wobei die Federplatte (107; 207) Übertragungselemente (111; 211) umfasst,
    wobei der zweite starre Körper (102; 202) im Eingangsflansch Nuten enthält, die dazu eingerichtet sind, die Übertragungselemente (111; 211) auszubilden.
  8. Kupplung nach Anspruch 6 oder Anspruch 7, wobei eine dritte Sensorstruktur (108b, 108c) in dem einen oder mehreren Erfassungsmitteln mit dem ersten starren Körper (101; 104) verbunden und von diesem elektrisch isoliert ist,
    wobei die dritte Sensorstruktur (108b, 108c) dazu eingerichtet ist, die erste Kapazität zwischen der Elektrode in der dritten Sensorstruktur (108b, 108c) und dem zweiten starren Körper (102; 103) in dem mindestens einen Flansch zu messen, und die zweite Kapazität zwischen der Elektrode und der Federplatte (107) und/oder mindestens einem der Übertragungselemente (111) zu messen.
  9. Kupplung nach einem der Ansprüche 6 bis 8, wobei eine vierte Sensorstruktur (208b, 208c) in dem einen oder mehreren Erfassungsmitteln mit dem zweiten starren Körper (202; 203) verbunden und von diesem elektrisch isoliert ist,
    wobei die vierte Sensorstruktur (208b, 208c) dazu eingerichtet ist, die erste Kapazität zwischen der Elektrode in der vierten Sensorstruktur (208b, 208c) und dem ersten starren Körper (201; 204) in dem mindestens einen Flansch zu messen, und die zweite Kapazität zwischen der Elektrode und der Federplatte (207) und/oder mindestens einem der Übertragungselemente (211) zu messen.
  10. Kupplung nach einem der Ansprüche 1 bis 9, wobei der zweite starre Körper (102; 103; 202; 203) in dem anderen der mindestens einen Flansche eine Oberfläche mit einer Verformung (114; 115; 214; 215) umfasst, die auf eine Oberfläche der Elektrode gerichtet ist,
    wobei die elektronische Schaltung dazu eingerichtet ist, das Auskuppeln der Kupplung auf der Grundlage einer Änderung der gemessenen zweiten Kapazität aufgrund einer Änderung eines Abstands zwischen der Oberfläche der Elektrode und der Oberfläche des zweiten starren Körpers in dem anderen des mindestens einen Flansches zu erkennen.
  11. Kupplung nach einem der Ansprüche 1 bis 10, wobei der mindestens eine Flansch eine Vielzahl von vorstehenden Abschnitten (535; 635; 735) umfasst, die in einer Winkelrichtung angeordnet sind,
    wobei das eine oder mehrere Erfassungsmittel eine Vielzahl von Sensorstrukturen (108a-108d; 208a-208d) umfassen, die jeweils eine Elektrode aufweisen, wobei die Vielzahl von Sensorstrukturen (108a-108d; 208a-208d) in einer Winkelrichtung angeordnet und dazu eingerichtet sind, die erste Kapazität zwischen den Elektroden und der Vielzahl von vorstehenden Abschnitten (535; 635; 735) zu messen.
  12. Kupplung nach einem der Ansprüche 1-11, wobei die verformbare Struktur (105; 106; 205; 206) eine Vielzahl von Speichen umfasst.
  13. Kupplung nach einem der Ansprüche 1-12, wobei die Kupplung eine Nockenkupplung, eine Reibkupplung oder eine kombinierte Reib-/Nockenkupplung ist.
  14. Vorrichtung eine Kupplung nach einem der vorhergehenden Ansprüche umfassend, wobei die Vorrichtung umfasst:
    ein mit dem Eingangsflansch verbundenes Getriebe; und
    einen mit dem Getriebe verbundenen Motor, der dazu eingerichtet ist, über Getriebe ein Drehmoment auf den Eingangsflansch zu übertragen.
EP22793429.6A 2021-10-20 2022-09-23 Überlastkupplung mit gemeinsamer drehmoment- und ausrückmessung Active EP4419809B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP21203799 2021-10-20
PCT/EP2022/076544 WO2023066602A1 (en) 2021-10-20 2022-09-23 Overload clutch with joint torque and disengagement sensing

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EP4419809A1 EP4419809A1 (de) 2024-08-28
EP4419809B1 true EP4419809B1 (de) 2025-07-23

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US12480550B2 (en) 2025-11-25
US20240401649A1 (en) 2024-12-05

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